Can I animate something with the Transform Panel, without keyframes?
Yes, they are called drivers.
Click in the transform panel and type #. Then enter the expression you want to use. You can use the keyword frame for the current frame number.
For your suggestion 6 degrees every 30 we can use math:
#floor(frame/30) * radians(6)

The property field will turn purple, when a driver has been added. If you click in it again you can edit the expression. (The # will remain hidden once the driver has been added.)